class Drone:
"""Drone instance. Starts and flies drone"""
logging.basicConfig(level=logging.ERROR)
URI = 'radio://0/80/250K'
def __init__(self, URI='radio://0/80/250K'):
"""
Init commad connects to drone
:param URI: URI
"""
self._cf = Crazyflie(rw_cache='./cache')
cflib.crtp.init_drivers(enable_debug_driver=False)
self.scf = SyncCrazyflie(URI, cf=self._cf)
self.scf.__enter__()
self.motionCommander = MotionCommander(self.scf)
#self.multiranger = Multiranger(self.scf)
def take_off(self, height=1.0, velocity=0.2):
"""has the drone take off"""
# drone takes off
self.motionCommander.take_off(height=height, velocity=velocity)
def land(self):
self.motionCommander.land()
def move(self, vector):
"""moves the drone at a constant speed in one direction"""
if vector['y'] > 0.1:
print "move up by {}m".format(vector['y'])
self.motionCommander.up(vector['y'], velocity=0.4)
elif vector['y'] < -0.1:
print "move down by {}m".format(abs(vector['y']))
self.motionCommander.down(abs(vector['y']), velocity=0.4)
if vector['x'] > 0.1:
print "move left by {}m".format(vector['x'])
self.motionCommander.left(vector['x'], velocity=0.4)
elif vector['x'] < -0.1:
print "move right by {}m".format(abs(vector['x']))
self.motionCommander.right(abs(vector['x']), velocity=0.4)
if vector['z'] > 2.1:
print "move fowards by {}m".format(vector['z'] - 2.0)
self.motionCommander.forward(vector['z'] - 2.0, velocity=0.4)
self
elif vector['z'] < 1.9:
print "move backwards by {}m".format(2.0 - vector['z'])
self.motionCommander.back(2.0 - vector['z'], velocity=0.4)
def disconnect(self):
self.scf.close_link()
def is_close(range):
MIN_DISTANCE = 0.4 # m
if range is None:
return False
else:
return range < MIN_DISTANCE
class CrazyflieControl:
def __init__(self, name, crazyflie):
# Instantiate motion commander
self._cf = crazyflie
self._name = name
self._mc = MotionCommander(self._cf)
# Topic Publishers
self._velocity_setpoint_pub = rospy.Publisher(self._name +
'/velocity_setpoint',
Vector3,
queue_size=10)
"""
Services hosted for this crazyflie controller
"""
self._reset_position_estimator_srv = rospy.Service(
self._name + '/reset_position_estimator', ResetPositionEstimator,
self._reset_position_estimator_cb)
self._send_hover_setpoint_srv = rospy.Service(
self._name + '/send_hover_setpoint', SendHoverSetpoint,
self._send_hover_setpoint_cb)
self._set_param_srv = rospy.Service(self._name + '/set_param',
SetParam, self._set_param_cb)
self._velocity_control_srv = rospy.Service(
self._name + '/velocity_control', VelocityControl,
self._velocity_control_cb)
"""
Action servers for this crazyflie controller
"""
self._position_control_as = actionlib.SimpleActionServer(
self._name + '/position_control', PositionControlAction,
self._position_control_cb, False)
self._position_control_as.start()
"""
Service Callbacks
"""
def _reset_position_estimator_cb(self, req):
pass
def _send_hover_setpoint_cb(self, req):
vx = req.vx
vy = req.vy
z = req.z
yaw_rate = req.yaw_rate
self._cf.commander.send_hover_setpoint(vx, vy, yaw_rate, z)
return []
def _set_param_cb(self, req):
self._cf.param.set_value(req.param, req.value)
print("set %s to %s" % (req.param, req.value))
return SetParamResponse()
def _velocity_control_cb(self, req):
try:
obj = pickle.loads(req.pickle)
print(self._mc)
if isinstance(obj, SetVelSetpoint):
self._mc._set_vel_setpoint(obj.vx, obj.vy, obj.vz,
obj.rate_yaw)
elif isinstance(obj, StartBack):
self._mc.start_back(velocity=obj.velocity)
elif isinstance(obj, StartCircleLeft):
self._mc.start_circle_left(obj.radius_m, velocity=obj.velocity)
elif isinstance(obj, StartCircleRight):
self._mc.start_turn_right(obj.radius_m, velocity=obj.velocity)
elif isinstance(obj, StartDown):
self._mc.start_down(velocity=obj.velocity)
elif isinstance(obj, StartForward):
self._mc.start_forward(velocity=obj.velocity)
elif isinstance(obj, StartLeft):
self._mc.start_left(velocity=obj.velocity)
elif isinstance(obj, StartLinearMotion):
self._mc.start_linear_motion(obj.vx, obj.vy, obj.vz)
elif isinstance(obj, StartRight):
self._mc.start_right(velocity=obj.velocity)
elif isinstance(obj, StartTurnLeft):
self._mc.start_turn_left(rate=obj.rate)
elif isinstance(obj, StartTurnRight):
self._mc.start_turn_right(rate=obj.rate)
elif isinstance(obj, StartUp):
self._mc.start_up(velocity=obj.velocity)
elif isinstance(obj, Stop):
self._mc.stop()
else:
return 'Object is not a valid velocity command'
except Exception as e:
print(str(e))
raise e
return 'ok'
"""
Action Implementations
"""
def _position_control_cb(self, goal):
try:
obj = pickle.loads(goal.pickle)
if isinstance(obj, Back):
self._mc.back(obj.distance_m, velocity=obj.velocity)
elif isinstance(obj, CircleLeft):
self._mc.circle_left(obj.radius_m,
velocity=obj.velocity,
angle_degrees=obj.angle_degrees)
elif isinstance(obj, CircleRight):
self._mc.circle_right(obj.radius_m,
velocity=obj.velocity,
angle_degrees=obj.angle_degrees)
elif isinstance(obj, Down):
self._mc.down(obj.distance_m, velocity=obj.velocity)
elif isinstance(obj, Forward):
self._mc.forward(obj.distance_m, velocity=obj.velocity)
elif isinstance(obj, Land):
self._mc.land(velocity=obj.velocity)
elif isinstance(obj, Left):
self._mc.left(obj.distance_m, velocity=obj.velocity)
elif isinstance(obj, MoveDistance):
self._mc.move_distance(obj.x,
obj.y,
obj.z,
velocity=obj.velocity)
elif isinstance(obj, Right):
self._mc.right(obj.distance_m, velocity=obj.velocity)
elif isinstance(obj, TakeOff):
self._mc.take_off(height=obj.height, velocity=obj.velocity)
elif isinstance(obj, TurnLeft):
self._mc.turn_left(obj.angle_degrees, rate=obj.rate)
elif isinstance(obj, TurnRight):
self._mc.turn_right(obj.angle_degrees, rate=obj.rate)
elif isinstance(obj, Up):
self._mc.up(obj.distance_m, velocity=obj.velocity)
except Exception as e:
print('Exception in action server %s' % self._name +
'/position_control')
print(str(e))
print('Action aborted')
self._position_control_as.set_aborted()
return
self._position_control_as.set_succeeded()
def _takeoff(self, goal):
try:
self._mc.take_off(height=goal.height)
time.sleep(5)
except BaseException as e:
self._takeoff_as.set_aborted()
print(e)
return
self._takeoff_as.set_succeeded(TakeOffResult(True))
def _land(self, goal):
try:
self._mc.land(velocity=goal.velocity)
except BaseException as e:
self._land_as.set_aborted()
print(e)
return
self._land_as.set_succeeded(LandResult(True))
def _move_distance(self, goal):
try:
x = goal.x
y = goal.y
z = goal.z
velocity = goal.velocity
dist = np.sqrt(x**2 + y**2 + z**2)
vx = x / dist * velocity
vy = y / dist * velocity
vz = z / dist * velocity
# self._velocity_setpoint_pub.publish(Vector3(vx, vy, vz))
self._mc.move_distance(x, y, z, velocity=velocity)
# self._velocity_setpoint_pub.publish(Vector3(vx, vy, vz))
except BaseException as e:
self._move_distance_as.set_aborted()
print(e)
return
self._move_distance_as.set_succeeded()
class MyCrazyFlieClient:
def __init__(self):
cflib.crtp.init_drivers(enable_debug_driver=False)
cf = Crazyflie(rw_cache='./cache')
self.scf = SyncCrazyflie(URI, cf=cf)
self.scf.open_link()
self.client = None
log_config = LogConfig(name='kalman', period_in_ms=100)
log_config.add_variable('kalman.stateX', 'float')
log_config.add_variable('kalman.stateY', 'float')
self.logger_pos = SyncLogger(self.scf, log_config)
log_config_2 = LogConfig(name='stabilizer', period_in_ms=100)
log_config_2.add_variable('stabilizer.yaw', 'float')
self.logger_orientation = SyncLogger(self.scf, log_config_2)
self.home_pos = self.get_position()
print('Home = %s ' % self.home_pos)
self.orientation = self.get_orientation()
self.client = MotionCommander(self.scf)
self.client.take_off(height=0.6)
def land(self):
self.client.land()
self.scf.close_link()
def check_if_in_target(self, goal):
pos = self.get_position()
distance = np.sqrt(
np.power((goal[0] - pos[0]), 2) + np.power((goal[1] - pos[1]), 2))
if distance < 1:
self.land()
return True
return False
def get_position(self):
self.logger_pos.connect()
data = self.logger_pos.next()[1]
self.logger_pos.disconnect()
self.logger_pos._queue.empty()
return [data['kalman.stateX'], -data['kalman.stateY']]
def get_orientation(self):
self.logger_orientation.connect()
data = self.logger_orientation.next()[1]
self.logger_orientation.disconnect()
self.logger_orientation._queue.empty()
return -data['stabilizer.yaw']
def straight(self, speed):
self.client.forward(0.25, speed)
start = time.time()
return start
def yaw_right(self):
self.client.turn_right(30, 72)
start = time.time()
return start
def yaw_left(self):
self.client.turn_left(30, 72)
start = time.time()
return start
def take_action(self, action):
start = time.time()
collided = False
if action == 0:
start = self.straight(0.25)
if action == 1:
start = self.yaw_right()
if action == 2:
start = self.yaw_left()
# print(start)
return collided
def goal_direction(self, goal, pos):
yaw = self.get_orientation()
print('yaw now %s' % yaw)
pos_angle = math.atan2(goal[1] - pos[1], goal[0] - pos[0])
pos_angle = math.degrees(pos_angle) % 360
print('pos angle %s' % pos_angle)
track = pos_angle - yaw
track = ((track - 180) % 360) - 180
print('Track = %s ' % track)
return track
def observe(self, goal):
position_now = self.get_position()
track = self.goal_direction(goal, position_now)
distance = np.sqrt(
np.power((goal[0] - position_now[0]), 2) +
np.power((goal[1] - position_now[1]), 2))
distance_sensor = Multiranger(self.scf)
distance_sensor.start()
front_distance_sensor = distance_sensor.front
while front_distance_sensor is None:
time.sleep(0.01)
front_distance_sensor = distance_sensor.front
distance_sensor.stop()
print('Position now = %s ' % position_now)
# print('Track = %s ' % track)
print('Distance to target: %s' % distance)
print('Front distance: %s' % front_distance_sensor)
return position_now[0], position_now[
1], track, distance, front_distance_sensor
import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.log import LogConfig
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.crazyflie.syncLogger import SyncLogger
from cflib.positioning.motion_commander import MotionCommander
URI = 'radio://0/30/2M/E7E7E7E7E7'
cflib.crtp.init_drivers(enable_debug_driver=False)
with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:
mc = MotionCommander(scf)
mc.take_off(1.0, 0.3)
# 利用更底层函数精确指定悬浮高度为 1m
scf.cf.commander.send_hover_setpoint(0, 0, 0, 1.0)
mc._thread._z_base = 1.0
mc._thread._z_velocity = 0.0
mc._thread._z_base_time = time.time()
time.sleep(1)
try:
while True:
time.sleep(1)
mc.forward(0.5, 0.3)
mc.right(0.5, 0.3)
mc.back(0.5, 0.3)
mc.left(0.5, 0.3)
except:
mc.land()
class Mission:
def __init__(self, URI):
# Tool to process the data from drone's sensors
self.processing = Processing(URI)
cflib.crtp.init_drivers(enable_debug_driver=False)
self.cf = Crazyflie(ro_cache=None, rw_cache='./cache')
# Connect callbacks from the Crazyflie API
self.cf.connected.add_callback(self.connected)
self.cf.disconnected.add_callback(self.disconnected)
# Connect to the Crazyflie
self.cf.open_link(URI)
time.sleep(3)
self.pose_home = self.position
self.pose_home[2] = 0.1
self.velocity = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'yaw': 0.0}
self.goal = np.array([0.5, 0.0, 0.3])
self.mc = MotionCommander(self.cf)
time.sleep(3)
self.mc.take_off(0.15, 0.2)
time.sleep(1)
self.mc.circle_right(0.8, velocity=0.5, angle_degrees=360)
time.sleep(2)
self.mc.up(0.1)
time.sleep(1)
self.mc.circle_right(0.8, velocity=0.5, angle_degrees=360)
time.sleep(2)
self.mc.up(0.1)
time.sleep(1)
self.mc.circle_right(0.8, velocity=0.5, angle_degrees=360)
time.sleep(2)
self.mc.land(0.2)
''' Mission to a goal and return to home position '''
# self.mc.take_off(0.5, 0.2)
# time.sleep(1)
# rate = rospy.Rate(10)
# while not rospy.is_shutdown():
# self.sendVelocityCommand()
# rate.sleep()
def coverage_mission(self, height=0.2, length=1.0, width=0.3, numiters=2):
self.mc.take_off(height, 0.2)
time.sleep(1)
for _ in range(numiters):
self.mc.forward(length)
time.sleep(0.1)
self.mc.turn_right(90)
time.sleep(0.1)
self.mc.forward(width)
time.sleep(0.1)
self.mc.turn_right(90)
time.sleep(0.1)
self.mc.forward(length)
time.sleep(0.1)
self.mc.turn_left(90)
time.sleep(0.1)
self.mc.forward(width)
time.sleep(0.1)
self.mc.turn_left(90)
time.sleep(0.1)
self.mc.land(0.2)
time.sleep(1)
def square_mission(self, numiters=2):
'''
Square trajectory to collect data with multiranger.
'''
self.mc.take_off(0.15, 0.2)
time.sleep(1)
self.mc.turn_left(45)
time.sleep(0.1)
# sequence of repeated squares
for _ in range(numiters):
# sqaure
for _ in range(4):
self.mc.forward(1.4)
time.sleep(2)
self.mc.turn_right(90)
time.sleep(1)
self.mc.up(0.1)
time.sleep(1)
for _ in range(numiters):
# sqaure
for _ in range(4):
self.mc.forward(1.4)
time.sleep(2)
self.mc.turn_right(90)
time.sleep(1)
self.mc.land(0.2)
time.sleep(1)
def sendVelocityCommand(self):
direction = normalize(self.goal - self.position)
v_x = SPEED_FACTOR * direction[0]
v_y = SPEED_FACTOR * direction[1]
v_z = SPEED_FACTOR * direction[2]
# Local movement correction from obstacles
dV = 0.1 # [m/s]
if is_close(self.measurement['left']):
# print('Obstacle on the LEFT')
v_y -= dV
if is_close(self.measurement['right']):
# print('Obstacle on the RIGHT')
v_y += dV
self.velocity['x'] = v_x
self.velocity['y'] = v_y
self.velocity['z'] = v_z
# print('Sending velocity:', self.velocity)
goal_dist = norm(self.goal - self.position)
# print('Distance to goal %.2f [m]:' %goal_dist)
if goal_dist < GOAL_TOLERANCE: # goal is reached
# print('Goal is reached. Going home...')
self.goal = self.pose_home
self.cf.commander.send_velocity_world_setpoint(self.velocity['x'],
self.velocity['y'],
self.velocity['z'],
self.velocity['yaw'])
def disconnected(self, URI):
print('Disconnected')
def connected(self, URI):
print('We are now connected to {}'.format(URI))
# The definition of the logconfig can be made before connecting
lpos = LogConfig(name='Position', period_in_ms=100)
lpos.add_variable('lighthouse.x')
lpos.add_variable('lighthouse.y')
lpos.add_variable('lighthouse.z')
lpos.add_variable('stabilizer.roll')
lpos.add_variable('stabilizer.pitch')
lpos.add_variable('stabilizer.yaw')
try:
self.cf.log.add_config(lpos)
lpos.data_received_cb.add_callback(self.pos_data)
lpos.start()
except KeyError as e:
print('Could not start log configuration,'
'{} not found in TOC'.format(str(e)))
except AttributeError:
print('Could not add Position log config, bad configuration.')
lmeas = LogConfig(name='Meas', period_in_ms=100)
lmeas.add_variable('range.front')
lmeas.add_variable('range.back')
lmeas.add_variable('range.up')
lmeas.add_variable('range.left')
lmeas.add_variable('range.right')
lmeas.add_variable('range.zrange')
lmeas.add_variable('stabilizer.roll')
lmeas.add_variable('stabilizer.pitch')
lmeas.add_variable('stabilizer.yaw')
try:
self.cf.log.add_config(lmeas)
lmeas.data_received_cb.add_callback(self.meas_data)
lmeas.start()
except KeyError as e:
print('Could not start log configuration,'
'{} not found in TOC'.format(str(e)))
except AttributeError:
print('Could not add Measurement log config, bad configuration.')
lbat = LogConfig(
name='Battery',
period_in_ms=500) # read battery status with 2 Hz rate
lbat.add_variable('pm.vbat', 'float')
try:
self.cf.log.add_config(lbat)
lbat.data_received_cb.add_callback(self.battery_data)
lbat.start()
except KeyError as e:
print('Could not start log configuration,'
'{} not found in TOC'.format(str(e)))
except AttributeError:
print('Could not add Measurement log config, bad configuration.')
def pos_data(self, timestamp, data, logconf):
# Transformation according to https://wiki.bitcraze.io/doc:lighthouse:setup
position = [
-data['lighthouse.z'], -data['lighthouse.x'], data['lighthouse.y']
# data['stateEstimate.x'],
# data['stateEstimate.y'],
# data['stateEstimate.z']
]
orientation = [
data['stabilizer.roll'], data['stabilizer.pitch'],
data['stabilizer.yaw']
]
self.position = np.array(position)
self.orientation = np.array(orientation)
self.processing.set_position(position, orientation)
def meas_data(self, timestamp, data, logconf):
measurement = {
'roll': data['stabilizer.roll'],
'pitch': data['stabilizer.pitch'],
'yaw': data['stabilizer.yaw'],
'front': data['range.front'],
'back': data['range.back'],
'up': data['range.up'],
'down': data['range.zrange'],
'left': data['range.left'],
'right': data['range.right']
}
self.measurement = measurement
self.processing.set_measurement(measurement)
def battery_data(self, timestamp, data, logconf):
self.V_bat = data['pm.vbat']
# print('Battery status: %.2f [V]' %self.V_bat)
if self.V_bat <= V_BATTERY_TO_GO_HOME:
self.battery_state = 'needs_charging'
# print('Battery is not charged: %.2f' %self.V_bat)
self.goal = self.pose_home
elif self.V_bat >= V_BATTERY_CHARGED:
self.battery_state = 'fully_charged'
